Inheritance diagram for StopPrimitive:

Collaboration diagram for StopPrimitive:

Public Member Functions
std::pair< std::optional< TrajectoryPath >, std::unique_ptr< TbotsProto::Primitive > >	generatePrimitiveProtoMessage (const World &world, const std::set< TbotsProto::MotionConstraint > &motion_constraints, const std::map< RobotId, TrajectoryPath > &robot_trajectories, const RobotNavigationObstacleFactory &obstacle_factory) override

void	getVisualizationProtos (TbotsProto::ObstacleList &obstacle_list_out, TbotsProto::PathVisualization &path_visualization_out) const override

Public Member Functions inherited from Primitive
virtual	~Primitive ()=default

double	getEstimatedPrimitiveCost () const

Additional Inherited Members
Protected Attributes inherited from Primitive
double	estimated_cost = 0

Member Function Documentation

◆ generatePrimitiveProtoMessage()

std::pair< std::optional< TrajectoryPath >, std::unique_ptr< TbotsProto::Primitive > > generatePrimitiveProtoMessage	(	const World &	world,
		const std::set< TbotsProto::MotionConstraint > &	motion_constraints,
		const std::map< RobotId, TrajectoryPath > &	robot_trajectories,
		const RobotNavigationObstacleFactory &	obstacle_factory
	)

overridevirtual

Gets the primitive proto message

Parameters

world	Current state of the world
motion_constraints	Motion constraints to consider
robot_trajectories	A map of the friendly robots' known trajectories
obstacle_factory	Obstacle factory to use for generating obstacles

Returns: A pair of the found trajectory (optional) and the primitive proto message

Implements Primitive.

void getVisualizationProtos	(	TbotsProto::ObstacleList &	obstacle_list_out,
		TbotsProto::PathVisualization &	path_visualization_out
	)		const

overridevirtual

Fill the obstacle list and path visualization with the obstacles and path of this primitive

Parameters

obstacle_list_out	Reference to the ObstacleList proto to add obstacles to
path_visualization_out	Reference to the PathVisualization proto to add path

Implements Primitive.

The documentation for this class was generated from the following files: